A new 3D center of mass control approach for FES-assisted standing: First experimental evaluation with a humanoid robot.

•Restoring the coordination between upper (functional) and lower (paralyzed) limbs in the context of Functional Electrical Stimulation (FES) assisted posture and transfer in complete paraplegic individuals.•New automatic control framework.•Original paradigm consisting in a kinematic decoupling between lower and upper limbs.•Controlling the 3D whole body center of mass location by acting only on the lower limb joints.•Validation of the paradigm is performed using a humanoid robot.